Technologies for tracking and locating underground assets

ABSTRACT

Technologies for tracking and locating underground assets include a survey instrument having an asset tracking device. The asset tracking device determines a current geographic location of the survey instrument and a heading of a sensor group of the survey instrument when aimed at a target measurement point of an underground asset. The asset tracking device measures the distance between the sensor group and the target measurement point of the underground asset. The asset tracking device also determines the pitch of the sensor group when aimed at the target measurement point of the underground asset. The effective height of the sensor group relative to the elevation at the survey location is also determined. The asset tracking device determines the geographic location and a corresponding depth of the target measurement point on the underground asset based on the determined and measured information.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/890,301, filed Jun. 2, 2020, entitled “TECHNOLOGIES FOR TRACKING ANDLOCATING UNDERGROUND ASSETS,” which itself is a divisional of U.S.patent application Ser. No. 16/124,160, filed on Sep. 6, 2018, entitled“TECHNOLOGIES FOR TRACKING AND LOCATING UNDERGROUND ASSETS,” whichclaims the benefit of U.S. Provisional Patent Application Ser. No.62/554,768, filed on Sep. 6, 2017, entitled “TECHNOLOGIES FOR TRACKINGAND LOCATING UNDERGROUND ASSETS,” the disclosure of each of which ishereby incorporated herein by reference in its entirety.

TECHNICAL FIELD

Embodiments of the technologies described herein relate, in general, totracking and locating underground assets. More particularly, thetechnologies described herein relate to enabling the location and depthof an underground asset to be tracked and later identified from safedistances.

SUMMARY

In an embodiment, the present disclosure is directed, in part, to amethod for tracking an underground asset. The method includesdetermining, by a survey instrument, a current geographic location ofthe survey instrument positioned at a survey location. The surveylocation may be proximate to an excavated area including an undergroundasset. The method further includes determining, by the surveyinstrument, a heading of an adjustable sensor group of the surveyinstrument aimed at a target measurement point on the underground asset.Additionally, the method includes measuring, by the survey instrument, adistance between the adjustable sensor group and the target measurementpoint on the underground asset. The method further includes determining,by the survey instrument, a pitch angle at which the adjustable sensorgroup is aimed at the target measurement point on the underground asset.Also, the method includes determining, by the survey instrument, ageographic location of the target measurement point on the undergroundasset based at least in part on the current geographic location of thesurvey instrument, the determined heading, the measured distance betweenthe adjustable sensor group and the target measurement point, and thedetermined pitch angle at which the adjustable sensor group is aimed atthe target measurement point. The method additionally includesdetermining, by the survey instrument, an effective height of theadjustable sensor group relative to an elevation corresponding to thesurvey location. Further, the method includes determining, by the surveyinstrument, a depth of at least a portion of the underground asset atthe target measurement point based at least in part on the determinedheight of the adjustable sensor group relative to the elevationcorresponding to the survey location, the measured distance between theadjustable sensor group and the target measurement point, and thedetermined pitch angle at which the adjustable sensor group is aimed atthe target measurement point.

In some embodiments, the method further includes receiving, by thesurvey instrument, a communication transmitted from a base station. Thebase station may have a known geographic location and elevation and thecommunication transmitted from the base station may include a correctionsignal. In such embodiments of the method, determining the currentgeographic location of the survey instrument includes determining thecurrent geographic location of the survey instrument at the surveylocation based at least in part on the correction signal.

Additionally, in some embodiments, the method further includesdetermining, by the survey instrument and based at least in part on themeasured distance and the determined pitch angle, a position differencebetween the current geographic location of the survey instrument and thetarget measurement point on the underground asset. In such embodimentsof the method, determining the geographic location of the targetmeasurement point on the underground asset includes determining thegeographic location of the target measurement point on the undergroundasset based at least in part on the current geographic location of thesurvey instrument, the determined heading, and the determined positiondifference.

In some embodiments the method also includes determining, by the surveyinstrument, a tilt angle at which the survey instrument is positionedrelative to a vertical plane. In such embodiments of the method,determining the effective height of the adjustable sensor group includesdetermining the effective height of the adjustable sensor group relativeto the elevation corresponding to the survey location based at least inpart on the determined tilt angle at which the survey instrument ispositioned relative to the vertical plane and a reference distancebetween the adjustable sensor group and a distal point of the surveyinstrument.

Additionally, in some embodiments, the also includes storing, by thesurvey instrument, the determined geographic location and the depth ofthe target measurement point on the underground asset for lateridentification of a portion of the underground asset. The method mayalso include storing, by the survey instrument, an annotationcorresponding to the underground asset, in some embodiments. In suchembodiments, the method may further include storing the determinedgeographic location and the depth of the target measurement point and/orthe annotation corresponding to the underground asset in a remote datastore.

In another embodiment, the present disclosure is directed, in part, to asurvey instrument for tracking an underground asset. The surveyinstrument includes a central support member configured to be positionedat a survey location. The survey location may be proximate to anexcavated area including an underground asset. The survey instrumentalso includes an adjustable sensor group configured rotate relative tothe central support member. The adjustable sensor group includes adistance sensor and an encoder. The survey instrument also includes anasset tracking device positioned between a lower end and an upper end ofthe central support member. The asset tracking device includes aprocessor to execute instructions stored in memory. The instructions,when executed by the processor, cause the asset tracking device todetermine a current geographic location of the survey instrumentpositioned at the survey location. The instructions, when executed bythe processor, further cause the asset tracking device to determine aheading of the adjustable sensor group of the survey instrument aimed ata target measurement point on the underground asset. The instructions,when executed by the processor, also cause the asset tracking device tomeasure, via the distance sensor, a distance between the adjustablesensor group and the target measurement point on the underground assetand measure, via the encoder, a pitch angle at which the adjustablesensor group is aimed at the target measurement point on the undergroundasset. Additionally, the instructions, when executed by the processor,cause the asset tracking device to determine a geographic location ofthe target measurement point on the underground asset based at least inpart on the current geographic location of the survey instrument, thedetermined heading, the measured distance between the adjustable sensorgroup and the target measurement point, and the measured pitch angle atwhich the adjustable sensor group is aimed at the target measurementpoint. The instructions, when executed, further cause the asset trackingdevice to determine an effective height of the adjustable sensor grouprelative to an elevation corresponding to the survey location.Additionally, when executed, the instructions cause the asset trackingdevice to determine a depth of at least a portion of the undergroundasset at the target measurement point based at least in part on thedetermined height of the adjustable sensor group relative to theelevation corresponding to the survey location, the measured distancebetween the adjustable sensor group and the target measurement point,and the measured pitch angle at which the adjustable sensor group isaimed at the target measurement point.

In some embodiments of the survey instrument, the instructions furthercause the asset tracking device to receive a communication transmittedfrom a base station. The base station may have a known geographiclocation and elevation and the communication transmitted from the basestation including a correction signal. In such embodiments,determination of the current geographic location of the surveyinstrument includes determination of the current geographic location ofthe survey instrument at the survey location based at least in part onthe correction signal.

Additionally, in some embodiments of the survey instrument, theinstructions further cause the asset tracking device to determine, basedat least in part on the measured distance and the measured pitch angle,a position difference between the current geographic location of thesurvey instrument and the target measurement point on the undergroundasset. In such embodiments, determination of the geographic location ofthe target measurement point on the underground asset includesdetermination of the geographic location of the target measurement pointon the underground asset based at least in part on the currentgeographic location of the survey instrument, the determined heading,and the determined position difference.

In some embodiments, the adjustable sensor group of the surveyinstrument includes an inertial measurement sensor. In such embodiments,the instructions also cause the asset tracking device to determine, viathe inertial measurement sensor, a tilt angle at which the surveyinstrument is positioned relative to a vertical plane. Further, in suchembodiments, determination of the effective height of the adjustablesensor group includes determination of the effective height of theadjustable sensor group relative to the elevation corresponding to thesurvey location based at least in part on the determined tilt angle atwhich the survey instrument is positioned relative to the vertical planeand a reference distance between the adjustable sensor group and adistal point of the survey instrument.

Additionally, in some embodiments of the survey instrument, theinstructions further cause the asset tracking device to store thedetermined geographic location and depth of the target measurement pointon the underground asset for later identification of a portion of theunderground asset. The instructions may also cause the asset trackingdevice to store an annotation corresponding to the underground asset, insome embodiments. In such embodiments of the survey instrument, theinstructions may cause the asset tracking device to store the determinedgeographic location, the depth of the target measurement point, and/orthe annotation corresponding to the underground asset in a remote datastore.

BRIEF DESCRIPTION OF THE DRAWINGS

It is believed that certain embodiments will be better understood fromthe following description taken in conjunction with the accompanyingdrawings, in which like references indicate similar elements and inwhich:

FIG. 1 is an illustrative diagram of at least one embodiment of systemfor tracking and identifying the location and depth of an undergroundasset;

FIG. 2 is an illustrative diagram of various components and features ofthe survey instrument of FIG. 1;

FIG. 3 is a simplified block diagram of at least one embodiment of anasset tracking device of the survey instrument of FIGS. 1 and 2;

FIG. 4 is a simplified block diagram of at least one embodiment of theasset tracking device of FIGS. 1-3 communicating with a remote assetmanagement server;

FIG. 5 is an illustrative diagram of using the survey instrument ofFIGS. 1 and 2 to track the location and depth of an underground asset;

FIG. 6 is an illustrative diagram of using the survey instrument ofFIGS. 1 and 2 to track the location and depth of multiple positionsalong the length of an underground asset;

FIG. 7 is a simplified flow diagram of at least one embodiment of amethod that may be used to track the location and depth of one or morepositions along the length of an underground asset; and

FIG. 8 is a simplified flow diagram of at least one embodiment of amethod that may be used to identify the location and depth of one ormore positions along the length of a buried underground asset.

DETAILED DESCRIPTION

Various non-limiting embodiments of the present disclosure will now bedescribed to provide an overall understanding of the principles of thestructure, function, and use of systems and methods disclosed herein.One or more examples of these non-limiting embodiments are illustratedin the selected examples disclosed and described in detail withreference made to the figures in the accompanying drawings. Those ofordinary skill in the art will understand that systems and methodsspecifically described herein and illustrated in the accompanyingdrawings are non-limiting embodiments. The features illustrated ordescribed in connection with one non-limiting embodiment may be combinedwith the features of other non-limiting embodiments. Such modificationsand variations are intended to be included within the scope of thepresent disclosure.

The systems, apparatuses, devices, and methods disclosed herein aredescribed in detail by way of examples and with reference to thefigures. The examples discussed herein are examples only and areprovided to assist in the explanation of the apparatuses, devices,systems and methods described herein. None of the features or componentsshown in the drawings or discussed below should be taken as mandatoryfor any specific implementation of any of these the apparatuses,devices, systems or methods unless specifically designated as mandatory.In addition, elements illustrated in the figures are not necessarilydrawn to scale for simplicity and clarity of illustration. For ease ofreading and clarity, certain components, modules, or methods may bedescribed solely in connection with a specific figure. In thisdisclosure, any identification of specific techniques, arrangements,etc. are either related to a specific example presented or are merely ageneral description of such a technique, arrangement, etc.Identifications of specific details or examples are not intended to be,and should not be, construed as mandatory or limiting unlessspecifically designated as such. Any failure to specifically describe acombination or sub-combination of components should not be understood asan indication that any combination or sub-combination is not possible.It will be appreciated that modifications to disclosed and describedexamples, arrangements, configurations, components, elements,apparatuses, devices, systems, methods, etc. can be made and may bedesired for a specific application. Also, for any methods described,regardless of whether the method is described in conjunction with a flowdiagram, it should be understood that unless otherwise specified orrequired by context, any explicit or implicit ordering of stepsperformed in the execution of a method does not imply that those stepsmust be performed in the order presented but instead may be performed ina different order or in parallel.

Reference throughout the specification to “various embodiments,” “someembodiments,” “one embodiment,” “some example embodiments,” “one exampleembodiment,” or “an embodiment” means that a particular feature,structure, or characteristic described in connection with any embodimentis included in at least one embodiment. Thus, appearances of the phrases“in various embodiments,” “in some embodiments,” “in one embodiment,”“some example embodiments,” “one example embodiment,” or “in anembodiment” in places throughout the specification are not necessarilyall referring to the same embodiment. Furthermore, the particularfeatures, structures or characteristics may be combined in any suitablemanner in one or more embodiments.

Throughout this disclosure, references to components or modulesgenerally refer to items that logically can be grouped together toperform a function or group of related functions. Like referencenumerals are generally intended to refer to the same or similarcomponents. Components and modules can be implemented in software,hardware, or a combination of software and hardware.

The term “software” is used expansively to include not only executablecode, for example machine-executable or machine-interpretableinstructions, but also data structures, data stores and computinginstructions stored in any suitable electronic format, includingfirmware, and embedded software. The terms “information” and “data” areused expansively and includes a wide variety of electronic information,including executable code; content such as text, video data, and audiodata, among others; and various codes or flags. The terms “information,”“data,” and “content” are sometimes used interchangeably when permittedby context.

It should be noted that although for clarity and to aid in understandingsome examples discussed herein might describe specific features orfunctions as part of a specific component or module, or as occurring ata specific layer of a computing device (for example, a hardware layer,operating system layer, or application layer), those features orfunctions may be implemented as part of a different component or moduleor operated at a different layer of a communication protocol stack.Those of ordinary skill in the art will recognize that the systems,apparatuses, devices, and methods described herein can be applied to, oreasily modified for use with, other types of equipment, can use otherarrangements of computing systems such as client-server distributedsystems, and can use other protocols, or operate at other layers incommunication protocol stacks, than are described.

Referring now to FIGS. 1-5, in one embodiment, a system 100 for trackingand identifying a location and corresponding depth of an undergroundasset 112 (or a portion thereof) includes a survey instrument 102, oneor more orbiting navigation satellites 120, and a benchmark and/or abase station 130 having a known location and elevation. The undergroundasset 112 may be any type of component, material, or asset installed orsuitable to be installed at, above, or below grade. That is, theunderground asset 112 does not need to be buried or covered to betracked and identified by the technologies disclosed herein. Forexample, the underground asset 112 may be a water main, a sewer line, agas line, power or telecommunication lines, an electrical ortelecommunications conduit, a pipe, a connector, underground electricalstructures (e.g., underground transformers, etc.), and/or any othercomponent, material, or asset installed or suitable to be installed at,above, or below grade.

In use, the survey instrument 102 (e.g., a “rover”) is positioned at asurvey location proximate to a portion of the underground asset 112during installation, repair, and/or identification thereof. For example,referring specifically to FIG. 5, the survey instrument 102 may bepositioned at the survey location 310 proximate to the trench 110 orexcavated area of soil (or other material) within which the undergroundasset 112 is being installed, repaired, and/or identified. As discussedin more detail herein, the survey instrument 102 receives data orsignals 122 transmitted by the orbiting navigation satellites 120 (e.g.,Global Positioning System (GPS) satellites). Additionally, the surveyinstrument 102 receives data or signals 132 (e.g., correction signals)transmitted by the base station 130, which can be located at abenchmark. The survey instrument 102 is configured to determine anaccurate location (e.g., latitude and longitude) and elevation (e.g.,meters, inches, feet, etc.) based at least in part on, or otherwise as afunction of, the signals 122 received from the navigation satellites 120and the signals 132 received from the base station 130. Morespecifically, once positioned at the survey location 310, the surveyinstrument 102 is configured to initially determine its currentgeographic location (e.g., latitude and longitude) and elevation via thesignals 122 received from the navigation satellites 120. Thereafter, thesurvey instrument 102 is configured to utilize the signals 132 receivedfrom the base station 130 to correct or otherwise increase the accuracyof the location and elevation determined from the signals 122 receivedfrom the navigation satellites 120. In the illustrative embodiment, thesurvey instrument 102 is configured to utilize Real-Time Kinematics(RTK) navigation techniques and components to provide such correctionsor increased accuracy. Additionally or alternatively, other locationcorrection techniques can also be used to provide increased accuracy(e.g., Satellite-based Augmentation Systems (SBAS), Radio TechnicalCommission for Maritime Services (RTCM), etc.). It should beappreciated, however, that although RTK correction techniques (or otherlocation correction techniques) are utilized in the illustrativeembodiments described herein, the current geographic location of thesurvey instrument 102 can be obtained without the use of such correctiontechniques. For example, in embodiments in which the survey instrument102 (or a component thereof) is capable of independently determining anaccurate geographic location at the survey location 310, the surveyinstrument 102 need not receive communications (e.g., correctionsignals, etc.) from the base station 130.

After an accurate geographic location (e.g., latitude and longitude) andelevation of the survey instrument 102 at the survey location 310 hasbeen determined, the survey instrument 102 is configured to determine alocation and corresponding depth of a portion of an underground asset112. To do so, as described in more detail herein, the survey instrument102 is configured to project a laser beam 104 to a target measurementpoint 312 or location on the underground asset 112 and measure thestraight-line distance M therebetween. In addition to determining thedistance M between the survey instrument 102 and the target measurementpoint 312 or location on the underground asset 112, the surveyinstrument 102 is configured to determine a pitch angle Θ of theprojected laser beam 104. Based at least in part on, or otherwise as afunction of, the measured straight-line distance M and the pitch angle Θof the projected laser beam 104, the survey instrument 102 is configuredto determine the position difference AP (i.e., the distance) between thelocation (e.g., latitude and longitude) of the survey instrument 102 atthe survey location 310 and the target measurement point 312 or positionon the underground asset 112.

After the position difference ΔP between the current geographic locationof the survey instrument 102 at the survey location 310 and the targetmeasurement point 312 or position on the underground asset 112 has beendetermined, the survey instrument 102 is configured to determine theelevation or depth D corresponding to the target measurement point 312on the underground asset 112. In the illustrative embodiment, the depthD determined by the survey instrument 102 is calculated relative to theelevation determined at the survey location 310 at which the surveyinstrument 102 is positioned. It should be appreciated, however, thatthe depth D determined by the survey instrument 102 may also be basedother elevations or factors. For example, in some embodiments, the depthD determined by the survey instrument 102 may factor in variables suchas the tilt angle θ, φ of the survey instrument 102 (see FIG. 5) and/orother offset variables (e.g., an elevation difference between an initialgrade and a planned final grade at the survey location 310, attachmentor extension lengths added to the survey instrument 102, etc.).

The survey instrument 102 is also configured to determine thecoordinates (e.g., latitude and longitude) of the location correspondingto the target measurement point 312 or position on the underground asset112 based at least in part on, or otherwise as a function of, thedetermined position difference ΔP and a bearing or heading of the surveyinstrument 102 relative to magnetic north (see FIG. 6). To do so, insome embodiments, the survey instrument 102 may include a magneticcompass or other sensor configured to measure a heading or bearing ofthe survey instrument 102, or a portion thereof. Additionally oralternatively, as discussed herein, the survey instrument 102 (orcomponents thereof) may be configured to use signals 132 (e.g.,correction signals) and/or data messages transmitted by the base station130 to determine the heading or bearing. Furthermore, in someembodiments, the survey instrument 102 can be used to “shoot” the basestation 130 or a benchmark (e.g. measure the angle and/or distancebetween the survey instrument 102 and the base station 130 orbenchmark). It should be appreciated that the bearing or headingutilized by the survey instrument 102 may be relative to any otherreference heading or point, in other embodiments.

As discussed, the system 100 includes the survey instrument 102,orbiting navigation satellite(s) 120, and the base station 130, which asdiscussed above, may be located at a benchmark having a known locationand elevation. It should be appreciated that the benchmark and/or basestation 130 may have a known location and elevation that can bereferenced by other devices to, for example, create a heading angleand/or correct location data. As discussed in more detail below the basestation 130 can be embodied as a Real-Time Kinematics (RTK) base station130 configured to communicate with the survey instrument 102 and/orother computing or survey devices of the system 100 via radiocommunications such as, for example, cellular communications or anyother form of wireless communications. Additionally or alternatively,the base station 130 can be embodied as one or more radio communicationstowers such as a cellular communications towers. In such cases, thesurvey instrument 102 and/or other computing or survey devices of thesystem 100 may receive signals from the radio communications towers(i.e., the base stations 130) and, based at least in part on the signalsreceived from the radio communication towers, determine a currentlocation and/or location correction data. For example, in someembodiments, the survey instrument 102 and/or the other computingdevices of the system 100 can be configured to utilize data and/orproperties of signals (e.g., signal-to-noise ratio data, location data,tower identification data, etc.) transmitted by the radio communicationstowers to triangulate their position and/or determine a more accurateposition than possible using conventional location determinationtechniques.

As illustratively shown in FIG. 2, the survey instrument 102 includes acentral support member 260. In the illustrative embodiment, the supportmember 260 is embodied as a cylindrical bar and is constructed fromsteel, carbon fiber, and/or any other rigid material or combinationsthereof. It should be appreciated, however, that the support member 260may include any other geometric cross section, in other embodiments. Thelower end 262 of the support member 260 may include a point 266constructed to facilitate positioning of the survey instrument 102 at aspecific location (e.g., the survey points/locations 310, 320, 330 ofFIG. 6, etc.). Additionally, the upper end 264 of the support member 260includes a GPS antenna 270 configured to facilitate receipt of the dataor signals 122 transmitted by the orbiting navigation satellites 120.

In the illustrative embodiment, the support member 260 of the surveyinstrument 102 further includes an asset tracking device 202 positionedbetween the lower end 262 and the upper end 264. The asset trackingdevice 202 can be embodied as any type of computing device or servercapable of processing, communicating, storing, maintaining, andtransferring data. For example, the asset tracking device 202 can beembodied as a microcomputer, a minicomputer, a custom chip, an embeddedprocessing device, a mobile computing device, a handheld computer, asmart phone, a tablet computer, a personal digital assistant, a laptopcomputer, a desktop computer, and/or other computing device or suitableprogrammable device. In some embodiments, the asset tracking device 202can be embodied as a computing device integrated with other systems orsubsystems. As illustratively shown in FIG. 3, the asset tracking device202 includes a processor 204, a system bus 206, a memory 208, a datastorage 210, communication circuitry 212, one or more peripheral devices214, various sensors 220, and a power source/power management circuity250. Of course, the asset tracking device 202 can include other oradditional components, such as those commonly found in a computer and/orserver (e.g., various input/output devices), in other embodiments.Additionally, in some embodiments, one or more of the illustrativecomponents can be incorporated in, or otherwise from a portion of,another component. For example, the memory 208, or portions thereof, canbe incorporated in the processor 204 in some embodiments. Furthermore,it should be appreciated that the asset tracking device 202 can includeother components, sub-components, and devices commonly found in acomputer and/or computing device, which are not illustrated in FIG. 3for clarity of the description.

The processor 204 can be embodied as any type of processor capable ofperforming the functions described herein. For example, the processor204 can be embodied as a single or multi-core processor, a digitalsignal processor, a microcontroller, a general purpose centralprocessing unit (CPU), a reduced instruction set computer (RISC)processor, a processor having a pipeline, a complex instruction setcomputer (CISC) processor, an application specific integrated circuit(ASIC), a programmable logic device (PLD), a field programmable gatearray (FPGA), or any other type of processor or processing/controllingcircuit or controller.

In various configurations, the asset tracking device 202 includes asystem bus 206 for interconnecting the various components of the assettracking device 202. The system bus 206 can be embodied as, or otherwiseinclude, memory controller hubs, input/output control hubs, firmwaredevices, communication links (i.e., point-to-point links, bus links,wires, cables, light guides, printed circuit board traces, etc.) and/orother components and subsystems to facilitate the input/outputoperations with the processor 204, the memory 208, and other componentsof the asset tracking device 202. In some embodiments, the assettracking device 202 can be integrated into one or more chips such as aprogrammable logic device or an application specific integrated circuit(ASIC). In such embodiments, the system bus 206 can form a portion of asystem-on-a-chip (SoC) and be incorporated, along with the processor204, the memory 208, and other components of the asset tracking device202, on a single integrated circuit chip.

The memory 208 can be embodied as any type of volatile or non-volatilememory or data storage capable of performing the functions describedherein. For example, the memory 208 can be embodied as read only memory(ROM), random access memory (RAM), cache memory associated with theprocessor 204, or other memories such as dynamic RAM (DRAM), static RAM(SRAM), programmable ROM (PROM), electrically erasable PROM (EEPROM),flash memory, a removable memory card or disk, a solid state drive, andso forth. In operation, the memory 208 can store various data andsoftware used during operation of the asset tracking device 202 such asoperating systems, applications, programs, libraries, and drivers.

The data storage 210 can be embodied as any type of device or devicesconfigured for short-term or long-term storage of data such as, forexample, memory devices and circuits, memory cards, hard disk drives,solid-state drives, or other data storage devices. For example, in someembodiments, the data storage 210 includes storage media such as astorage device that can be configured to have multiple modules, such asmagnetic disk drives, floppy drives, tape drives, hard drives, opticaldrives and media, magneto-optical drives and media, Compact Disc (CD)drives, Compact Disc Read Only Memory (CD-ROM), Compact Disc Recordable(CD-R), Compact Disc Rewriteable (CD-RW), a suitable type of DigitalVersatile Disc (DVD) or Blu-Ray disc, and so forth. Storage media suchas flash drives, solid state hard drives, redundant array of individualdisks (RAID), virtual drives, networked drives and other memory meansincluding storage media on the processor 204, or the memory 208 are alsocontemplated as storage devices. It should be appreciated that suchmemory can be internal or external with respect to operation of thedisclosed embodiments. It should also be appreciated that certainportions of the processes described herein can be performed usinginstructions stored on a computer-readable medium or media that director otherwise instruct a computer system to perform the process steps.Non-transitory computer-readable media, as used herein, comprises allcomputer-readable media except for transitory, propagating signals.

The communication circuitry 212 of the asset tracking device 202 may beembodied as any type of communication circuit, device, interface, orcollection thereof, capable of enabling communications between the assettracking device 202, an asset management server 140 (FIG. 4), a portablecomputing device (not shown), the base station 130, and/or any othercomputing devices communicatively coupled thereto. For example, thecommunication circuitry 212 may be embodied as one or more networkinterface controllers (NICs), in some embodiments. The communicationcircuitry 212 may be configured to use any one or more communicationtechnologies (e.g., wireless or wired communications) and associatedprotocols (e.g., Ethernet, Wi-Fi®, WiMAX, etc.) to effect suchcommunication. In the illustrative embodiment, the communicationcircuitry 212 includes a wireless communication interface (e.g., Wi-Fi®,Bluetooth®, mesh network, etc.) configured to enable communicationsbetween the asset tracking device 202 and the asset management server140, the portable computing device, the base station 130, and/or anyother computing device. Additionally or alternatively, in someembodiments, the communication circuitry 212 includes a wiredcommunication interface (e.g., Ethernet, coaxial communicationinterface, USB, serial communication interface, parallel communicationinterface, etc.) configured to enable communications directly betweenthe asset tracking device 202 and one or more computing devices (e.g., aportable computing device, a smartphone, etc.) via a physicalcommunications connection.

In some embodiments, the asset tracking device 202, the asset managementserver 140, and/or any other computing devices of the system 100, cancommunicate with each other over one or more networks 150. Thenetwork(s) 150 can be embodied as any number of various wired and/orwireless communication networks. For example, the network(s) 150 can beembodied as or otherwise include a local area network (LAN), a wide areanetwork (WAN), a cellular network, or a publicly-accessible, globalnetwork such as the Internet. Additionally, the network(s) 150 caninclude any number of additional devices to facilitate communicationbetween the computing devices of the system 100.

Additionally, in some embodiments, the asset tracking device 202 canfurther include one or more peripheral devices 214. Such peripheraldevices 214 can include any type of peripheral device commonly found ina computing device such as various user interface devices 216 (e.g., ajoystick, buttons, controls, a hardware keyboard, a keypad, a gesture orgraphical input device, a motion input device, a vibratory device, acomputer mouse, a voice recognition unit, etc.), a display and/or atouchscreen interface 218, additional data storage, speakers, an audiounit, a peripheral communication device, and any other suitable userinterface, input/output device, and/or other peripheral device. In someembodiments, the user interface devices 216 can be used to input dataand/or annotations (e.g., asset type, asset description, asset material,dimensions, observed condition of asset, manufacturer, model number,installation or repair date, notes, etc.) corresponding to theunderground asset 112 being installed, installed, repaired, and/oridentified and/or another underground asset in proximity thereto.

As discussed, the asset tracking device 202 includes various sensors220. For example, as shown in FIGS. 2 and 3, the asset tracking device202 includes a location sensor 222, a distance sensor 226, an imagesensor 228, an inertial measurement sensor 230, and an encoder 232. Itshould be appreciated that the asset tracking device 202 may include anyother type of sensor 234 suitable for measuring and/or calculatingdistances, locations, elevations, angles, and/or any other type of data.

In the illustrative embodiment, one or more of the sensors 220 may formpart of an adjustable sensor group 224. For example, as shown in FIG. 3,the adjustable sensor group 224 may include the distance sensor 226, theimage sensor 228, the inertial measurement sensor 230, and the encoder232. The adjustable sensor group 224 is configured to rotate or tiltrelative to the support member 260 or any other portion of the surveyinstrument 102. Such capability enables operators of the surveyinstrument 102 to rotate or tilt the adjustable sensor group 224 inorder to obtain distance and location measurements corresponding topoints or locations on underground assets 112 being installed, repaired,and/or identified (either above or below grade). In some embodiments theadjustable sensor group 224 is configured to rotate or tilt within anangular range from about -90 degrees to about +90 degrees relative tothe support member 260 or some other reference plane. It should beappreciated that, in some embodiments, the inertial measurement sensor230 and/or the encoder 232 may be separate from the adjustable sensorgroup 224. For example, in some embodiments, the inertial measurementsensor 230 and/or the encoder 232 may be coupled to the support member260 or another component of the survey instrument 102.

The location sensor 222 may be embodied as any type of device orcircuitry configured to determine a current geographic location of thesurvey instrument 102. For example, in the illustrative embodiment, thelocation sensor 222 includes Global Positioning System (GPS) circuitryand Real-Time Kinematics (RTK) circuitry and/or logic. The GPS circuityis in electrical communication with the GPS antenna 270 and isconfigured to receive data or signals 122 transmitted by the orbitingnavigation satellites 120 and determine a location therefrom. The RTKcircuitry and/or logic is configured to communicate with correspondingRTK circuitry and/or logic of the base station 130 via one or morecommunication signals 132. Such communication signals 132 may includecorrection data transmitted by RTK circuitry and/or logic of the basestation 130 and received by the RTK circuitry and/or logic of thelocation sensor 222. The correction data can be used by the RTKcircuitry and/or logic, or another component of the asset trackingdevice 202, to increase the accuracy of the determined location for thesurvey instrument 102. In embodiments in which the location sensor 222,or more generally the asset tracking device 202, includes RTK logicinstead of RTK circuitry, the RTK functionality described herein can beperformed by the processor 204 in response to execution of instructionsstored in a memory or a computer-readable device. Additionally oralternatively, in some embodiments, the RTK circuitry and/or logic mayform part of the communication circuitry 212 and/or the location sensor222.

The distance sensor 226 can be embodied as any type of sensor or opticaldevice configured to measure the straight-line distance M between thesurvey instrument 102 and the target measurement point 312 or locationon the underground asset 112. For example, in the illustrativeembodiment, the distance sensor 226 is a laser range finder configuredto project a laser beam 104 to the target measurement point 312 orlocation on the underground asset 112 and measure the straight-linedistance M therebetween. It should be appreciated that, in someembodiments, the distance sensor 226 may not project a visible laserbeam 104 to the target measurement point 312 on the underground asset112. It should also be appreciated that the distance sensor 226 may beembodied as, or otherwise include, any other device suitable formeasuring the distance between the survey instrument 102 and the targetmeasurement point 312 on the underground asset 112, in otherembodiments. For example, in some embodiments, the distance sensor 226may be a sonic range finder device (e.g., sonar, echo location,ultrasonic range finding, etc.), a radar distance measurement device,and/or any other type of distance measuring device.

The image sensor 228 can be embodied as any type of camera and/oroptical scanner, such as a digital camera (e.g., a digitalpoint-and-shoot camera, a digital single-lens reflex (DSLR) camera,etc.), a video camera, or the like, that is capable of capturing imagesand/or video of an underground asset 112 being installed, repaired,and/or identified. Such images can be transmitted to the assetmanagement server 140 for storage and processing. As discussed herein,such images can later be retrieved by an operator attempting to identifyone or more locations at which the underground asset 112 is buried (orlocated, if installed at or below grade).

The inertial measurement sensor 230 may be configured to detect changesthe angular position of the survey instrument 102 or components thereof(e.g., the adjustable sensor group 224). For example, in theillustrative embodiment, the inertial measurement sensor 230 isconfigured to determine the tilt angle (e.g., the tilt angle θ, the tiltangle φ, etc.) of the survey instrument 102. Additionally, in someembodiments, the inertial measurement sensor 230 is also configured todetermine the pitch angle Θ of the projected laser beam 104. To do so,the inertial measurement sensor 230 may include one or moreaccelerometers, gyroscopes, and magnetometers configured to determinechanges in pitch, roll, and/or yaw of the survey instrument 102 andcomponents thereof. It should be appreciated that the inertialmeasurement sensor 230 may be embodied as any suitable electrical,mechanical, and/or optical encoder configured to generate angularmeasurements of the survey instrument 102 and/or components thereof.

The encoder 232 may be configured to detect changes the angular positionof the adjustable sensor group 224 and/or components thereof (e.g., thelocation sensor 222). For example, in the illustrative embodiment, theencoder 232 is configured to determine the pitch angle Θ of theprojected laser beam 104. It should be appreciated that the encoder 232may be embodied as any suitable electrical, mechanical, and/or opticalencoder configured to generate angular measurements of the adjustablesensor group 224 and/or components thereof (e.g., the location sensor222).

The power source/power management circuity 250 of the asset trackingdevice 202 is configured to supply or generate power to satisfy some orall of the power consumption requirements of the asset tracking device202 or, more generally, the survey instrument 102. For example, in someembodiments, onboard power storage sources can be utilized (i.e.,battery cells, etc.) to store and supply power to the survey instrument102 and components thereof. In other embodiments, the survey instrument102 may include a solar array configured to be exposed to sunlight forgeneration of power for the survey instrument 102 and componentsthereof. As shown in FIG. 3, the illustrative power source/powermanagement circuity 250 is in electrical communication with the variouscomponents of the asset tracking device 202 via one or more powerconnections 252 (e.g., point-to-point links, bus links, wires, cables,printed circuit board traces, etc.).

Referring to FIG. 4, the asset management server 140 may be embodied asany type of computing device capable of performing the functionsdescribed herein. As such, the asset management server 140 may includedevices and structures commonly found in computing devices such asprocessors, memory devices, communication circuitry, and data storages,which are not shown in FIG. 4 for clarity of the description. In someembodiments, the asset management server 140 is configured to receivedata from the asset tracking device 202 of the survey instrument 102.For example, the asset management server 140 is configured to receiveand store location data (e.g., latitude, longitude, and elevation)corresponding to the target measurement point 312 or position on theunderground asset 112. Additionally, in some embodiments, the assetmanagement server 140 is configured to receive additionaloperator-supplied data, annotations, and/or digital images correspondingto underground asset 112 and/or one or more target measurement points312, 322, 332 on the underground asset 112. Such information can laterbe retrieved and transmitted to the asset tracking device 202 or anotherasset locating device (not shown) to facilitate an operator in locatingwhere the underground asset 112 is buried or located.

Referring now to FIG. 7, a method 700 that may be used to track thelocation and depth of one or more positions along the length of anunderground asset 112 is shown. The method begins with block 702 inwhich a benchmark is established or identified, in some embodiments. Thebenchmark may be any geographical point having a known location andelevation.

In block 704, RTK communications are established or otherwise enabledbetween the location sensor 222 forming part of the asset trackingdevice 202 of the survey instrument 102 and a base station 130. Forexample, in some embodiments, the location sensor 222, or more generallythe asset tracking device 202, is configured to receive communicationsor signals broadcasted by the base station 130. The base station 130 maybe a RTK base station or any other device having a known location andelevation. In the illustrative embodiment, the base station 130 ispositioned or otherwise located at the benchmark. As such, the locationand elevation of the base station 130 is the same as, or substantiallysimilar to, the known location and elevation of the benchmark. It shouldbe appreciated, however, that the base station 130 may have a differentlocation and/or elevation than the known location and/or elevation ofthe benchmark, in some embodiments. For example, the base station 130may be located at a higher elevation and/or laterally offset from theknown location and/or elevation of the benchmark. Furthermore, in someembodiments, the base station 130 may be located independently of abenchmark (e.g., a stand-alone base station 130). In such cases, thelocation and elevation of the stand-alone base station 130 may bedetermined in advance during installation and/or configuration. Asdiscussed herein, the base station 130 can be embodied as one or moreradio communications towers or components (e.g., cellular communicationstowers, radio towers, radio antennas, broadcasting components, etc.)configured to transmit or broadcast data or signals that can be used bysurvey instruments and other computing devices to determine a currentlocation and/or location correction data. The RTK communications mayinclude signals 132 (e.g., correction signals) and/or data messagestransmitted by the base station 130. In some embodiments, the RTKcommunications between the location sensor 222 of the asset trackingdevice 202 and the base station 130 are bidirectional. That is, signalsand/or data may be transmitted in either direction between the locationsensor 222 of the asset tracking device 202 and the base station 130.

In block 706, a candidate underground asset 112 is identified to betracked. As discussed herein, the underground asset 112 may be any typeof component, material, or asset installed or suitable to be installedat, above, or below grade. That is, the underground asset 112 need notbe buried or covered to be tracked and identified by the technologiesdisclosed herein.

In block 708, after the candidate underground asset 112 to track hasbeen identified, one or more survey locations 310, 320, 330 aredetermined (FIG. 6). The survey location(s) 310, 320, 330 may be locatedproximate to the trench 110 (FIG. 1) or excavated area of soil (or othermaterial) within which the underground asset 112 is being installed,repaired, and/or identified. In some embodiments, one or more of thesurvey location(s) 310, 320, 330 are located at an elevation higher thanthe elevation of the portion of the trench 110 within which theunderground asset 112 is being installed, repaired, and/or identified.That is, one or more of the survey location(s) 310, 320, 330 are notwithin the trench 110 but are instead outside the trench 110 (e.g., onunexcavated or partially unexcavated soil). It should be appreciatedthat identifying and utilizing survey locations 310, 320, 330 locatedoutside of the trench 110 advantageously enables operators of the surveyinstrument 102 to more safely determine and track the location and depthof different portions of the asset 112 without needing to actually be inthe trench 110 itself. It should also be appreciated, however, that oneor more survey locations (not shown) can also be identified within thetrench 110 if line-of-sight to a target location (e.g., one of thetarget measurement points 312, 322, 332) cannot be achieved from anidentified survey location (e.g., one of the identified survey locations310, 320, 330).

In block 710, the survey instrument 102 is positioned at the first/nextdetermined survey location 310. Subsequently, in block 712, variousmeasurements and data corresponding to the survey instrument 102 and afirst/next target measurement point 312 on the underground asset 112 areobtained or otherwise collected (e.g., measured, sampled, calculated,etc.). To do so, in block 714, one or more of the sensor(s) 220 of theasset tracking device 202 are adjusted. For example, in the illustrativeembodiment, the adjustable sensor group 224 is rotated or tiltedrelative to the support member 260 or any other portion of the surveyinstrument 102 such that at least the distance sensor 226 is aimed orotherwise angled towards the first/next target measurement point 312 onthe underground asset 112. It should be appreciated that other sensorssuch as, for example, the image sensor 228, may be aimed or angledtowards the first/next target measurement point 312 on the undergroundasset 112 based on the rotation and/or tilting of the adjustable sensorgroup 224 relative to the support member 260. In some embodiments theadjustable sensor group 224 is configured to rotate or tilt within anangular range from about −90 degrees to about +90 degrees relative tothe support member 260 or some other reference plane.

In block 716, the heading and/or bearing, in degrees, of the surveyinstrument 102 (e.g., the “rover”) is determined relative to magneticnorth or any other reference heading. In particular, the bearing orheading η of the adjustable sensor group 224 (or at least the directionor heading at which the distance sensor 226 is aimed) is determined. Todo so, in some embodiments, the asset tracking device 202 of the surveyinstrument 102 obtains direction data from a magnetic compass or otherdirection sensor. Additionally or alternatively, the asset trackingdevice 202 may be configured to use signals 132 (e.g., correctionsignals) and/or data messages transmitted by the base station 130 todetermine the heading or bearing η of the adjustable sensor group 224(or at least the direction or heading at which the distance sensor 226is aimed). In other embodiments, the bearing or heading η of theadjustable sensor group 224 (or at least the direction or heading atwhich the distance sensor 226 is aimed) can be determined by “shooting”the base station 130 or a benchmark (e.g. measuring the angle and/ordistance between the survey instrument 102 and the base station 130 orbenchmark).

Next, in block 718, the location sensor 222 is sampled to determine anaccurate location (e.g., latitude and longitude) and elevation of thesurvey instrument 102 at the first/next survey location 310. To do so,the location sensor 222 receives data or signals 122 transmitted by theorbiting navigation satellites 120 (e.g., Global Positioning System(GPS) satellites). Thereafter, the location sensor 222 determines aninitial location and elevation of the survey instrument 102 based atleast in part on, or otherwise as a function of the signals 122 receivedfrom the navigation satellites 120. The location sensor 222 alsoreceives one or more signals 132 (e.g., RTK correction signals) from thebase station 130, which may be used by the location sensor 222 tocorrect or otherwise increase the accuracy of the location and elevationinitially determined from the signals 122 received from the navigationsatellites 120.

In block 720, the distance sensor 226 is sampled to measure thestraight-line distance M between the distance sensor 226, or moregenerally the survey instrument 102, and the first/next targetmeasurement point 312 on the underground asset 112. To do so, in theillustrative embodiment, the distance sensor 226 projects a laser beam104 to the target measurement point 312 on the underground asset 112 andmeasures the straight-line distance M therebetween. In some embodiments,the distance sensor 226 and/or other components of the asset trackingdevice 202 factor in an offset distance corresponding to the distancebetween the distance sensor 226 and the support member 260 of the surveyinstrument 102. As discussed in more detail below, the distance sensor226 and/or other components of the asset tracking device 202 factor inan offset distance based on the tilt or angle (e.g., the angle θ, theangle φ, etc.) at which the operator is holding the survey instrument102 relative to a vertical plane.

In block 722, the angular sensors (i.e., the inertial measurement sensor230, the encoder 234, etc.) are sampled. For example, in someembodiments, the encoder 234 measures or determines the pitch angle Θ ofthe laser beam 104 projected to the target measurement point 312 on theunderground asset 112. As discussed herein, the encoder 232 may beembodied as any suitable electrical, mechanical, and/or optical encoderconfigured to generate angular measurements of the adjustable sensorgroup 224, the survey instrument 102, and/or components thereof (e.g.,the location sensor 222, the support member 260). In some embodiments,the encoder 234 is configured to measure angles ranging from about −90degrees to about +90 degrees relative to a plane defined by the supportmember 260 of the instrument. It should be appreciated that the encoder234 may also be configured to measure angles relative to any otherreference plane. In alternative embodiments, the inertial measurementsensor 230 may also be configured to determine the pitch angle Θ of thelaser beam 104 projected to the target measurement point 312 on theunderground asset 112.

Additionally, in block 722, the inertial measurement sensor 230 measuresor determines the tilt angle (e.g., the tilt angle θ, the tilt angle φ,etc.) of the survey instrument 102 relative to a vertical plane. In someembodiments, such angles may be measured and/or determined by theinertial measurement sensor 230 based on the angle at which theadjustable sensor group 224 is tilted and/or angled. It should beappreciated that such tilt or angle (e.g., the tilt angle θ, the tiltangle φ, etc.) may be used to correct and/or compensate for measurementstaken while the survey instrument 102 is being held out of plumb by theoperator.

It should be appreciated that, in other embodiments, the particularorder in which the location sensor 222, the distance sensor 226, theinertial measurement sensor 230, and the encoder are sampled in blocks718-722 may be different or occur substantially at the same time. Forexample, the distance sensor 226 may be sampled in block 720 before thelocation sensor 222 and the inertial measurement sensor 230 are sampledin block 718 and block 722, respectively. In another example, theinertial measurement sensor 230 and/or the encoder 234 may be sampled inblock 722 before the location sensor 222 is sampled in block 718 and/orbefore the distance sensor 226 is sampled in block 720.

In decision block 724, it is determined whether the obtainedmeasurements and data corresponding to the survey instrument 102 and thefirst/next target measurement point 312 on the underground asset 112 aresufficient to determine an accurate location and depth (e.g., elevationor altitude) corresponding to the first/next target measurement point312. To do so, in some embodiments, it may be determined whether theobtained measurements are within a reference tolerance range. If, indecision block 724, it is determined that the obtained measurements aresufficient to determine an accurate location and depth corresponding tothe first/next target measurement point 312 on the underground asset112, the method 700 advances to block 726. If, however, it is insteaddetermined in decision block 724 that the obtained measurements areinsufficient to determine an accurate location and depth correspondingto the first/next target measurement point 312 on the underground asset112, the method 700 loops back to block 712 and new and/or additionalmeasurements and data are obtained in blocks 716-722.

In block 726, an accurate location (e.g., latitude and longitude)corresponding to the first/next target measurement point 312 on theunderground asset 112 is determined. To do so, the asset tracking device202 first determines the position difference ΔP (i.e., the distance), inlocal coordinates, between the location (e.g., latitude and longitude)of the survey instrument 102 at the first/next survey location 310 andthe corresponding first/next target measurement point 312 or location onthe underground asset 112 (see FIG. 5). In the illustrative embodiment,the asset tracking device 202 calculates the position difference ΔPusing the measurements and data obtained in block 712 and the followingformula:

ΔP=M cos Θ

wherein M is the straight-line distance M measured between the distancesensor 226 and the target measurement point 312 on the underground asset112; and Θ is the pitch angle of the laser beam 104 projected by thedistance sensor 226 to the target measurement point 312 on theunderground asset 112.

In determining the accurate location corresponding to the first/nexttarget measurement point 312 on the underground asset 112, the assettracking device 202 also compensates for the direction or heading atwhich the measurements and data were obtained in block 714 relative tomagnetic north or any other reference heading (see FIG. 6). To do so, insome embodiments, the asset tracking device 202 utilizes the bearing orheading η of the adjustable sensor group 224 (or at least the directionor heading at which the distance sensor 226 is aimed) determined inblock 716. Thereafter, the asset tracking device 202 utilizes thedetermined bearing or heading η, the determined position difference ΔPand, in some embodiments, the determined location and/or datacorresponding to the survey instrument 102, to determine the actuallocation of the first/next target measurement point 312 on theunderground asset 112. To do so, in the illustrative embodiment, theasset tracking device 202 utilizes the following formula:

P _(n)={(^(s) P _(n) +ΔP _(n))sin η, (^(s) P _(n) +ΔP _(n))cos η}

wherein P_(n) is the particular measurement point being determined; η isthe heading or direction; and ^(s)P_(n) is the location and/or datacorresponding to the survey instrument 102 at the corresponding surveylocation.

In block 728, a depth (e.g., elevation or altitude) corresponding to thefirst/next target measurement point 312 on the underground asset 112 isdetermined. To do so, the asset tracking device 202 first determines, inlocal coordinates, the effective height H of the adjustable sensor group224 relative to the elevation corresponding to the first/next surveylocation 310 at which the survey instrument 102 is positioned (see FIG.5). In the illustrative embodiment, the asset tracking device 202 firstcalculates the effective height H of the adjustable sensor group 224(or, more specifically, the distance sensor 226) using the tilt angle(e.g., the tilt angle θ, the tilt angle φ, etc.) of the surveyinstrument 102 obtained by the inertial measurement sensor 230 in block722 and the following formula:

H=h cos φ

wherein h is the distance (e.g., height) between the distance sensor 226within the adjustable sensor group 224 and the lower end 262 and/or thepoint 266 of the support member 260.

In determining the depth corresponding to the first/next targetmeasurement point 312 on the underground asset 112, the asset trackingdevice 202, in block 728, subsequently utilizes the determined effectiveheight H of the adjustable sensor group 224 (or, more specifically, thedistance sensor 226) and the following formula:

D=M sin Θ−H

wherein M is the straight-line distance measured between the distancesensor 226 and the target measurement point 312 on the underground asset112; Θ is the pitch angle of the laser beam 104 projected by thedistance sensor 226 to the target measurement point 312 on theunderground asset 112; and H is the determined effective height of thedistance sensor 226 relative to the elevation corresponding to thefirst/next survey location 310 at which the survey instrument 102 ispositioned.

In block 730, the asset tracking device 202 stores the determinedlocation and depth corresponding to the first/next target measurementpoint 312 on the underground asset 112 in a local data store (e.g., thememory 208, the data storage 210, and/or any other memory or storagecomponent of the asset tracking device 202). It should be appreciatedthat, in some embodiments, the asset tracking device 202 also storesadditional data and/or annotations (e.g., asset type, asset description,asset material, dimensions, observed condition of asset, manufacturer,model number, installation or repair date, notes, digital images etc.)corresponding to the underground asset 112 being installed, installed,repaired, and/or identified. In the illustrative embodiment, thedetermined location and depth (and any additional data and annotations)corresponding to the first/next target measurement point 312 on theunderground asset 112 is transmitted to the remote asset managementserver 140 for storage, processing, and later retrieval by one or moreoperators. It should be appreciated, however, that the determinedlocation and depth (and any additional data and annotations)corresponding to the first/next target measurement point 312 on theunderground asset 112 may not be transmitted to the remote assetmanagement server 140 via one or more communication networks 150, insome embodiments. In such embodiments, the determined location and depth(and any additional data and annotations) may be kept local to the assettracking device 202 and used by operators to track and identifyunderground assets 112 without the need for communication networks 150(or used in locations with little or no access to the communicationnetworks 150).

In decision block 732, it is determined whether additional surveylocations (e.g., survey location 320, survey location 330, etc.) wereidentified (FIG. 6). If, in decision block 732, it is determined thatadditional survey locations (e.g., survey location 320, survey location330, etc.) were identified (FIG. 6), the method 700 loops back to blocks710-730 at which the survey instrument 102 is positioned at the nextdetermined survey location (e.g., survey location 320, survey location330, etc.) and various measurements and data corresponding to the surveyinstrument 102 and the corresponding next target measurement point(e.g., target measurement point 322, target measurement point 332, etc.)on the underground asset 112 are obtained, the location and depthcorresponding to the next target measurement point 322, 332 on theunderground asset 112 is determined, and the location and depth (and anyother data) corresponding to the next target measurement point 322, 332on the underground asset 112 is stored and/or transmitted to the remoteasset management server 140. If, however, it is instead determined indecision block 732 that no additional survey locations (e.g., surveylocation 320, survey location 330, etc.) were identified, the method 700terminates.

Referring now to FIG. 8, a method 800 that may be used to identify thelocation and depth/elevation of one or more positions along the lengthof an asset 112 located at, above, or below grade. The method 800 beginswith block 802 in which a benchmark is identified, in some embodiment's.As discussed, the benchmark may be any geographical point having a knownlocation and elevation. As discussed herein, the base station 130 can beembodied as one or more radio communications towers (e.g., cellularcommunications towers, etc.) configured to transmit or broadcast datathat can be used by survey instruments and other computing devices todetermine a current location and/or location correction data.

In block 804, RTK communications are established or otherwise enabledbetween the location sensor 222 forming part of the asset trackingdevice 202 of the survey instrument 102 and a base station 130. Forexample, in some embodiments, the location sensor 222, or more generallythe asset tracking device 202, is configured to receive communicationsor signals broadcasted by the base station 130. As discussed, the basestation 130 may be a RTK base station or any other device having a knownlocation and elevation, which may be the same or different locationand/or elevation than that of the benchmark, if identified in block 802.The RTK communications may include signals 132 (e.g., correctionsignals) and/or data messages transmitted by the base station 130. Insome embodiments, the RTK communications between the location sensor 222of the asset tracking device 202 and the base station 130 arebidirectional. That is, signals and/or data may be transmitted in eitherdirection between the location sensor 222 of the asset tracking device202 and the base station 130.

In block 806, the asset tracking device 202 of the survey instrument 102identifies one or more locations and corresponding depths along thelength of the asset 112. To do so, in some embodiments, the assettracking device 202 is configured to receive stored locations andcorresponding depths from the asset management server 140 via the one ormore communication networks 150. In other embodiments, the locations andcorresponding depths for the asset 112 may be stored and retrievedlocally by the asset tracking device 202. In some embodiments, the assettracking device 202 is configured with various indicators (visual oraudible) and/or user interfaces to facilitate identification, by anoperator of the survey instrument 102, of a particular location of theasset 112. It should be appreciated that in some embodiments, the assettracking device 202 is configured to utilize the communications sent toand/or received from the base station 130 to determine a currentlocation and elevation. In such cases, the asset tracking device 202 canbe configured to use the historical location and depth data of the asset112 and the current location and elevation of the asset tracking device202 to facilitate in identifying one or more locations and correspondingdepths along the length of the asset 112.

In embodiments in which the asset 112 is buried below grade, an operatorof the survey instrument 102 or another person may, in block 808,excavate the soil to the corresponding depth at the identified locationto uncover the buried asset 112. To do so, the operator or other personmay use any suitable machinery or tool to excavate and uncover theburied asset 112.

Some of the figures can include a flow diagram. Although such figurescan include a particular logic flow, it can be appreciated that thelogic flow merely provides an exemplary implementation of the generalfunctionality. Further, the logic flow does not necessarily have to beexecuted in the order presented unless otherwise indicated. In addition,the logic flow can be implemented by a hardware element, a softwareelement executed by a computer, a firmware element embedded in hardware,or any combination thereof.

The foregoing description of embodiments and examples has been presentedfor purposes of illustration and description. It is not intended to beexhaustive or limiting to the forms described. Numerous modificationsare possible in light of the above teachings. Some of thosemodifications have been discussed, and others will be understood bythose skilled in the art. The embodiments were chosen and described inorder to best illustrate principles of various embodiments as are suitedto particular uses contemplated. The scope is, of course, not limited tothe examples set forth herein, but can be employed in any number ofapplications and equivalent devices by those of ordinary skill in theart. Rather it is hereby intended the scope of the invention to bedefined by the claims appended hereto.

1. A survey instrument for tracking an underground asset within anexcavated area, the survey instrument comprising: (a) a sensor group;and (b) an asset tracking device comprising a processor; wherein theprocessor is configured to: (i) determine a three dimensional positionof a survey location that the sensor group is positioned at, wherein thethree dimensional position includes an elevation; (ii) determine aheading of the sensor group relative to a target point on theunderground asset; (iii) measure, via the sensor group, a distancebetween the sensor group and the target point on the underground asset;(iv) measure, via the sensor group, a pitch angle of the sensor grouprelative to the target point on the underground asset; (v) determine atwo dimensional target position of the target point on the undergroundasset based on: (A) the heading; (B) the distance; and (C) the pitchangle; and (vi) determine a depth of the target point on the undergroundasset based on: (A) the elevation; (B) the distance; and (C) the pitchangle.
 2. The survey instrument of claim 1, wherein the threedimensional position includes a first two dimensional geographicposition and the elevation.
 3. The survey instrument of claim 2, whereinthe two dimensional target position includes a second two dimensionalgeographic position.
 4. The survey instrument of claim 1, wherein thesensor group includes one or more of: (a) a distance sensor; (b) anoptical encoder; (c) an image sensor; (d) an inertial measurementsensor; or (e) a location sensor.
 5. The survey instrument of claim 1,wherein the processor is further configured to, when determining thethree dimensional position: (a) receive a first set of location signalsfrom a set of navigation satellites via the sensor group; (b) receive asecond set of location signals from a base station, wherein the secondset of location signals includes a correction signal; and (c) determinethe three dimensional position based on the first set of locationsignals and the second set of location signals.
 6. The survey instrumentof claim 1, wherein the processor is further configured to, whendetermining the heading: (a) receive direction data from a compass ofthe sensor group; and (b) determine the heading based on the directiondata.
 7. The survey instrument of claim 1, wherein the processor isfurther configured to, when measuring the distance: (a) receive distancedata from a distance sensor of the sensor group; and (b) determine thedistance based on the distance data.
 8. The survey instrument of claim1, wherein the processor is further configured to, when measuring thepitch angle: (a) receive orientation data from an inertial measurementsensor; and (b) determine the pitch angle based on the orientation data.9. The survey instrument of claim 1, wherein the processor is furtherconfigured to, when determining the two dimensional target position: (a)determine a two-dimensional distance between the survey location and thetarget point based on the distance and the pitch angle; and (b)determine the two dimensional target position as an offset from thesurvey location based on the two dimensional distance and the heading.10. The survey instrument of claim 1, wherein the processor is furtherconfigured to, when determining the depth of the target point: (a)determine a vertical distance between the survey location and the targetpoint based on the distance, and the pitch angle; and (b) determine thedepth as an offset from the survey location based on the verticaldistance and the elevation.
 11. The survey instrument of claim 1,wherein the processor is further configured to determine a threedimensional target position based on the two dimensional target positionand the depth, wherein the three dimensional target position describesthe location of the target point independently from the survey location.12. The survey instrument of claim 11, further comprising an indicator,wherein the processor is further configured to: (a) store the threedimensional target position; (b) receive a subsequent set of data fromthe sensor group while the sensor group is positioned at a future surveylocation, wherein the future survey location is not identical to thesurvey location; (c) determine a relative location for the target pointto the future survey location based on the stored three dimensionaltarget position and the subsequent set of data; and (d) operate theindicator to notify an operator of the relative location of the targetpoint from the future survey location.
 13. The survey instrument ofclaim 11, wherein the processor is further configured to: (a) store thethree dimensional target position on a remote server that includes aplurality of three dimensional target positions associated with aplurality of underground assets; (b) in response to a user input,identify a particular underground asset of the plurality of undergroundassets to the remote server; (c) receive a selected three dimensionaltarget position from the remote server based on the identifiedparticular underground asset; and (d) notify an operator of a relativelocation of the selected three dimensional target position based on asubsequent set of data from the sensor group.
 14. The survey instrumentof claim 11, wherein the processor is further configured to, in responseto a user input, indicate to an operator the two dimensional targetposition and the depth based on the three dimensional target position.15. The survey instrument of claim 1, further comprising a positioningmember usable to fix the survey instrument at the survey location.
 16. Asurvey system for locating an underground asset comprising: (a) an assetmanagement server; (b) a survey instrument in communication with theasset management server, the survey instrument including a sensor group,an indicator, and a processor; wherein the processor is configured to:(i) determine a three dimensional origin position of the sensor groupbased on a set of sensor data from the sensor group, wherein the threedimensional origin position includes a two dimensional origin positionand an elevation; (ii) determine a two dimensional target position of atarget point on the underground asset that the sensor group is targetedat based on the two dimensional origin position and the set of sensordata; (iii) determine a depth of the target point based on the elevationand the set of sensor data; and (iv) store a three dimensional targetposition on the asset management server based on the two dimensionaltarget position and the depth; and wherein the processor is furtherconfigured to, after the underground asset is buried, operate theindicator to identify a location of the three dimensional targetposition without requiring a line-of-sight to the target point.
 17. Thesurvey system of claim 16, wherein the asset management server isconfigured to store a plurality of three dimensional target positionsthat are associated with target points on a plurality of undergroundassets, wherein the processor is further configured to receive one ormore selected three dimensional target positions of the plurality ofthree dimensional target positions in response to a user selection of aparticular underground asset of the plurality of underground assets. 18.The survey system of claim 16, further comprising a base station incommunication with the survey instrument and configured to providereal-time kinematic data to the survey instrument, wherein the processoris further configured to determine the three dimensional origin positionof the sensor group based on the set of sensor data and thereal-kinematic data.
 19. The survey system of claim 16, furthercomprising an excavation tool that is operable to excavate and uncoverthe target point of the underground asset based on the identifiedlocation of the three dimensional target position.
 20. A systemcomprising a processor configured to: (a) receive a set of sensor datafrom a sensor group; (b) determine a three dimensional position of thesensor group based on the set of sensor data, wherein the threedimensional position includes an elevation; (c) determine a heading ofthe sensor group relative to a target point on the underground asset,based on the set of sensor data; (d) determine a distance between thesensor group and the target point based on the set of sensor data; (e)determine a pitch angle of the sensor group relative to the target pointbased on the set of sensor data; (f) determine a two dimensional targetposition of the target point based on: (i) the heading; (ii) thedistance; and (iii) the pitch angle; and (g) determine a depth of thetarget point based on: (i) the elevation; (ii) the distance; and (iii)the pitch angle.